EP0718598A1 - Korrektur von Fehlern eines Magnetometers - Google Patents

Korrektur von Fehlern eines Magnetometers Download PDF

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Publication number
EP0718598A1
EP0718598A1 EP95402632A EP95402632A EP0718598A1 EP 0718598 A1 EP0718598 A1 EP 0718598A1 EP 95402632 A EP95402632 A EP 95402632A EP 95402632 A EP95402632 A EP 95402632A EP 0718598 A1 EP0718598 A1 EP 0718598A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
magnetometer
magnetic field
coefficients
heading
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP95402632A
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English (en)
French (fr)
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EP0718598B1 (de
Inventor
Eric Charles Assous
Jean-Paul Petillon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus Helicopters SAS
Original Assignee
Eurocopter France SA
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Publication date
Application filed by Eurocopter France SA filed Critical Eurocopter France SA
Publication of EP0718598A1 publication Critical patent/EP0718598A1/de
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses

Definitions

  • the present invention relates to a method for the simultaneous identification and correction of errors due to magnetic disturbances and to misalignments in the measurements of a magnetometer mounted on board a vehicle, as well as a device for the implementation. of this method and various systems using said device.
  • This second known method has many drawbacks.
  • the implementation of the two aforementioned stages presupposes a complex and lengthy procedure for maneuvering the vehicle, during which the measurements used are carried out.
  • the object of the present invention is to remedy these drawbacks. It relates to a method for correcting simply, quickly and precisely errors in the measurements of a magnetometer mounted on board a vehicle, in particular an aircraft, errors which are due to magnetic disturbances, as well as to a misalignment of the magnetometer with respect to a vehicle reference linked to said vehicle.
  • the determination of the corrective model is carried out in a single step, which results in a simplified implementation, in particular with regard to the vehicle maneuvering procedure, during which the measurements are carried out. .
  • the method according to the invention makes it possible to determine, simultaneously with the calculation of said corrective model, at least one component of the effective magnetic field in the basic frame of reference.
  • the present invention is not limited as regards the elements of the theoretical model, and in particular the amplitude of the terms of the matrix [A], which makes it possible to alleviate the constraints of realization of the magnetometer.
  • the global error E 2 Ez 2 is used , so that only the coefficients of the third line of the matrix [M] -1 are used , said matrix [M] -1 being the passage matrix from said vehicle reference system to said basic reference system, said coefficients being determined from the longitudinal and transverse bases of said vehicle.
  • the coefficients of the matrix [M] are advantageously determined from the longitudinal and transverse plates, as well as from the heading of said vehicle.
  • this embodiment makes it possible to increase the accuracy with respect to the aforementioned known correction methods, since said known methods use secondary properties of the magnetic field to be measured, namely the constancy of the module and the constancy of the component. vertical of this field, as indicated previously, while the present invention directly uses a heading value, taking into account the constancy of the three components of the magnetic field in the basic frame of reference.
  • said theoretical model can have various forms for implementing the method.
  • said theoretical model is a non-stationary linear model, in which a represents a matrix [T], taking into account the eddy currents existing on the vehicle, as well as the delay between, of on the one hand, the measurement of the magnetic field and, on the other hand, the measurements of the vehicle's attitude and heading.
  • This first embodiment which makes it possible to identify a magnetic disturbance component having a matrix proportionality with the derivative of the magnetic field measured, is particularly well suited for a vehicle such as a wide-body aircraft with a metallic structure, in which are generated eddy currents during turning phases, which disturb the measurements of the magnetometer.
  • said theoretical model is a simplified non-stationary linear model, in which a represents a coefficient ⁇ taking into account the delay between, on the one hand, the measurement of the magnetic field and, on the other hand, the vehicle attitude and course measurements.
  • the two previous models using the derivative of the measured magnetic field are both particularly advantageous for a test installation which records measurements made during vehicle maneuvers, said measurements being used subsequently, since these models make it possible to take into account the asymmetries of the delays in the acquisition, on the one hand, of the measurements of the magnetic field and, on the other hand, of the measurements of attitude and heading, which are often difficult to control in a test facility.
  • the derivative Hm 'of the measured magnetic field Hm is calculated by the relation in which ⁇ ⁇ represents the vehicle's instantaneous rotation vector.
  • the heading value used can represent a geographic heading value or a heading value affected by any constant error, such as that delivered by an attitude and heading center in free gyroscopic mode, which allows a varied implementation of the invention.
  • the present invention also relates to a device for implementing the above method.
  • the present invention also relates to two systems comprising the device according to the invention, namely, on the one hand, an attitude and heading reference system on board an aircraft and comprising a magnetometer used to correct a possible drift of the heading measurement and, on the other hand, an inertial unit of an aircraft, which is associated with a magnetometer.
  • the device according to the invention is used to correct the measurement errors of said magnetometer, while, in the inertial unit, said device is used to determine precisely, in collaboration with said magnetometer, the earth's magnetic field, as well as for correcting the measurement errors of said magnetometer.
  • Figure 1 shows schematically a vehicle comprising a device according to the invention.
  • FIG. 2 illustrates reference systems making it possible to explain the implementation of the present invention.
  • Figure 3 is the block diagram of the device according to the invention.
  • the device 1 according to the invention is intended to correct errors due to magnetic disturbances and to misalignments in the measurements of a magnetometer 2 mounted on board a vehicle 3, said vehicle 3 being shown diagrammatically in the form of a helicopter in FIG. 1.
  • the magnetometer 2 is capable of measuring, in a vehicle frame of reference R1 which is associated with the vehicle, the components of an oriented magnetic physical quantity and of locally constant amplitude, represented by a vector, such as the vector H ⁇ oriented in the example shown according to the gradient of the Earth's magnetic potential.
  • such a magnetometer 2 is generally subjected to magnetic disturbances and is generally not perfectly aligned with the axes of the vehicle, which distorts the measurements so that the measured magnetic field Hm does not verify the above-mentioned relationship and does not exhibit the components HX, HY and HZ shown in Figure 2.
  • the device 1 according to the invention is intended to identify the errors generated by these magnetic and mechanical disturbances, and to correct them.
  • maneuvers can correspond, for example for an aircraft, to two turns, to the right then to the left, of 360 ° with a roll of the order of 30 °.
  • This suitable divisor can for example be one of the coefficients a 11 , a 22 or a 33 or the determinant of the matrix [a ij ].
  • the coefficients obtained constitute the corrective model (1), making it possible to determine the exact values of the magnetic field on the basis of field values measured by the magnetometer 2, in the presence of the magnetic disturbances and any alignment of the magnetometer.
  • the embodiment of the method according to the invention described above therefore makes it possible to simultaneously determine said corrective model and the three components of the earth's magnetic field.
  • this equation admits an infinity of solutions to within a multiplicative constant.
  • the coefficients obtained are divided by a 11 to obtain the correct dimensions and the corrective model (1) sought.
  • main calculation module 9 and said calculation modules 5 and 6 can optionally be installed in different computers.
  • the calculation module 5 calculates the derivative Hm ⁇ from the vector product of the measured magnetic field Hm ⁇ by the instantaneous rotation vector ⁇ ⁇ of vehicle 3 in the vehicle reference frame R1, that is to say that The vector ⁇ ⁇ can be transmitted for this purpose to the calculation module 5 via a link 20.
  • This method has the advantage of providing a derivative which is not limited at high frequencies, unlike other known methods.
  • the device 1 according to the invention can be advantageously used by different types of systems not shown and on board said vehicle 3.
  • an attitude and heading reference system of an aircraft comprising inter alia a magnetometer to correct a possible drift of the heading, can use the device 1 to correct the errors due to disturbances in the measurements of said magnetometer.
  • an inertial unit of an aircraft associated with a magnetometer, can use the device 1 according to the invention to determine precisely, in collaboration with said magnetometer, the declination and the inclination of the terrestrial magnetic field, thus only to correct the measurement errors of said magnetometer.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measuring Magnetic Variables (AREA)
  • Navigation (AREA)
EP95402632A 1994-12-19 1995-11-22 Korrektur von Fehlern eines Magnetometers Expired - Lifetime EP0718598B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9415231 1994-12-19
FR9415231A FR2728338A1 (fr) 1994-12-19 1994-12-19 Procede et dispositif d'identification simultanee et de correction des erreurs dues a des perturbations magnetiques et a de mauvais alignements dans les mesures d'un magnetometre

Publications (2)

Publication Number Publication Date
EP0718598A1 true EP0718598A1 (de) 1996-06-26
EP0718598B1 EP0718598B1 (de) 2000-01-12

Family

ID=9469910

Family Applications (1)

Application Number Title Priority Date Filing Date
EP95402632A Expired - Lifetime EP0718598B1 (de) 1994-12-19 1995-11-22 Korrektur von Fehlern eines Magnetometers

Country Status (5)

Country Link
US (1) US5654635A (de)
EP (1) EP0718598B1 (de)
JP (1) JP3734868B2 (de)
DE (1) DE69514492T2 (de)
FR (1) FR2728338A1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009138441A1 (fr) * 2008-05-14 2009-11-19 Movea Systeme de mesure de champ magnetique comprenant un capteur triaxial de mesure de champ magnetique mobile conjointement avec un element porteur perturbant les mesures et procede associe
EP3454010A1 (de) * 2017-09-08 2019-03-13 Thales Kompensationsverfahren eines magnetfelds, entsprechende vorrichtung und entsprechendes computerprogramm
CN110186480A (zh) * 2019-05-30 2019-08-30 北京航天控制仪器研究所 一种惯性器件线性系统误差系数确定方法

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6008641A (en) * 1997-10-22 1999-12-28 The United States Of America As Represented By The Secretary Of The Navy Method using corrective factors for aligning a magnetic gradiometer
US5990679A (en) * 1997-10-22 1999-11-23 The United States Of America As Represented By The Secretary Of The Navy Method using corrective factors for determining a magnetic gradient
AU2002951919A0 (en) * 2002-10-04 2002-10-24 Bhp Billiton Innovation Pty Ltd Vector magnetic data processing
WO2003069373A1 (en) * 2002-02-12 2003-08-21 Bhp Billiton Innovation Pty Ltd Airborne vector magnetic surveys
US7261688B2 (en) * 2002-04-05 2007-08-28 Warsaw Orthopedic, Inc. Devices and methods for percutaneous tissue retraction and surgery
FR2868281B1 (fr) * 2004-03-30 2023-06-23 Commissariat Energie Atomique Procede de determination des mouvements d'une personne.
RU2431859C2 (ru) * 2009-11-16 2011-10-20 Федеральное государственное унитарное предприятие "Научно-исследовательский институт электрофизической аппаратуры им. Д.В. Ефремова" Способ и устройство для определения дефектов изготовления, сборки и установки магнитных систем
ES2651008T3 (es) 2010-04-07 2018-01-23 L-3 Communications Avionics Systems, Inc. Procedimiento de instalación de un magnetómetro
FR3069649B1 (fr) * 2017-07-26 2021-01-01 Sysnav Procede de calibration d'un magnetometre
FR3070757B1 (fr) * 2017-09-06 2020-09-04 Thales Sa Systeme de navigation d'aeronef et procede de sauvegarde de donnees de compensation de champ magnetique dans un tel systeme
FR3082611B1 (fr) * 2018-06-13 2020-10-16 Sysnav Procede de calibration de magnetometres equipant un objet
CN114111835B (zh) * 2020-09-01 2023-09-19 北京原子机器人科技有限公司 实时磁场标定系统和方法

Citations (3)

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Publication number Priority date Publication date Assignee Title
FR2507770A1 (fr) * 1981-06-11 1982-12-17 Crouzet Sa Procede de compensations des perturbations magnetiques dans la determination d'un cap magnetique et dispositif pour la mise en oeuvre de ce procede
GB2128749A (en) * 1982-10-12 1984-05-02 Plessey Co Plc Electronic compass with tilt compensation
EP0226653A1 (de) * 1985-12-20 1987-07-01 LITEF GmbH Verfahren zur Kurswinkelbestimmung mittels und zur automatischen Kalibration eines in einem Luftfahrzeug fest montierten Dreiachsen-Magnetometers

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US5182514A (en) * 1974-11-19 1993-01-26 Texas Instruments Incorporated Automatic compensator for an airborne magnetic anomaly detector
US4611293A (en) * 1983-11-28 1986-09-09 Magnavox Government And Industrial Electronics Company Method and apparatus for automatic calibration of magnetic compass
US4972593A (en) * 1989-01-17 1990-11-27 The Charles Stark Draper Laboratory, Inc. Method and apparatus for measuring the undistorted magnetic field of the earth

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2507770A1 (fr) * 1981-06-11 1982-12-17 Crouzet Sa Procede de compensations des perturbations magnetiques dans la determination d'un cap magnetique et dispositif pour la mise en oeuvre de ce procede
GB2128749A (en) * 1982-10-12 1984-05-02 Plessey Co Plc Electronic compass with tilt compensation
EP0226653A1 (de) * 1985-12-20 1987-07-01 LITEF GmbH Verfahren zur Kurswinkelbestimmung mittels und zur automatischen Kalibration eines in einem Luftfahrzeug fest montierten Dreiachsen-Magnetometers

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009138441A1 (fr) * 2008-05-14 2009-11-19 Movea Systeme de mesure de champ magnetique comprenant un capteur triaxial de mesure de champ magnetique mobile conjointement avec un element porteur perturbant les mesures et procede associe
FR2931248A1 (fr) * 2008-05-14 2009-11-20 Movea S A Sa Systeme de mesure de champ magnetique comprenant un capteur triaxial de mesure de champ magnetique mobile conjointement avec un element porteur perturbant les mesures et procede associe
US9459098B2 (en) 2008-05-14 2016-10-04 Movea System for measuring a magnetic field comprising a three-axis sensor for measuring a magnetic field that is able to move together with a carrier that disrupts the measurements, and associated method
EP3454010A1 (de) * 2017-09-08 2019-03-13 Thales Kompensationsverfahren eines magnetfelds, entsprechende vorrichtung und entsprechendes computerprogramm
FR3071051A1 (fr) * 2017-09-08 2019-03-15 Thales Procede de compensation d'un champ magnetique, dispositif et programme d'ordinateur associes
CN109470239A (zh) * 2017-09-08 2019-03-15 泰雷兹公司 磁场补偿方法，相关装置及计算机程序
US10731983B2 (en) 2017-09-08 2020-08-04 Thales Magnetic field compensation method, associated device and computer program
CN109470239B (zh) * 2017-09-08 2023-10-10 泰雷兹公司 磁场补偿方法，相关装置及计算机程序
CN110186480A (zh) * 2019-05-30 2019-08-30 北京航天控制仪器研究所 一种惯性器件线性系统误差系数确定方法

Also Published As

Publication number Publication date
DE69514492D1 (de) 2000-02-17
FR2728338A1 (fr) 1996-06-21
JP3734868B2 (ja) 2006-01-11
US5654635A (en) 1997-08-05
DE69514492T2 (de) 2000-06-15
JPH08285634A (ja) 1996-11-01
EP0718598B1 (de) 2000-01-12
FR2728338B1 (de) 1997-02-28

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